Autonomous Surface Vehicle for Maritime RobotX Challenge

• Main Authors: Lin, Ni-Ching, 林倪敬
• Other Authors: Wang, Huseh-Cheng
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/df77ar

碩士 === 國立交通大學 === 電控工程研究所 === 107 === Robotic software and hardware systems of autonomous surface vehicles have been developed in transportation, military, and ocean researches for decades. Motivated from marine robot challenge call RobotX in Hawaii in December 2018, we proposed a surface vehicle with the designs of perception and propulsion systems for various tasks, such as obstacle avoidance, entrance, and exit gate. The MOOS-IvP and ROS are used to integrate hardware and software. This work aims to develop essential functionalities of autonomous navigation, from simulation (Gazebo) to real-world water/ocean environments. In Experiment 1 we evaluate how the vehicle executes 5 pre-defined desired trajectories in Gazebo with different noise settings. In real environment, we evaluate the basic capabilities about velocity and acceleration in Experiment 2. We compared two obstacle avoidance approaches in navigating from point A to B, and show the trade-off of safety (minimum distances from obstacles) and efficiency (the time from A to B). Some of the work will be used for the Team NCTU participations of the RobotX competition in Hawaii in 2018.